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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/tools/plotjuggler
Adeeb Shihadeh 807e84d900
juggle: add demo flag and improve README 		3 years ago
..
layouts plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active (#22908) 3 years ago
.gitignore juggle: gitignore leftover rlog files 4 years ago
README.md juggle: add demo flag and improve README 3 years ago
install.sh Support streaming in juggle.py (#20982) 4 years ago
juggle.py juggle: add demo flag and improve README 3 years ago
test_plotjuggler.py increasing time for PlotJuggler CI 4 years ago

README.md

PlotJuggler

PlotJuggler is a tool to quickly visualize time series data, and we've written plugins to parse openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.

Installation

NOTE: this is Ubuntu only for now. Pull requests for macOS support are welcome.

Once you've cloned and are in openpilot, this command will download PlotJuggler and install our plugins:

cd tools/plotjuggler && ./install.sh

Usage

$ ./juggle.py -h
usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [route_name] [segment_number] [segment_count]

A helper to run PlotJuggler on openpilot routes

positional arguments:
  route_name         The route name to plot (cabana share URL accepted) (default: None)
  segment_number     The index of the segment to plot (default: None)
  segment_count      The number of segments to plot (default: 1)

optional arguments:
  -h, --help         show this help message and exit
  --demo             Use the demo route instead of providing one (default: False)
  --qlog             Use qlogs (default: False)
  --can              Parse CAN data (default: False)
  --stream           Start PlotJuggler in streaming mode (default: False)
  --layout [LAYOUT]  Run PlotJuggler with a pre-defined layout (default: None)

Example:

./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"

Streaming

Explore live data from your car! Follow these steps to stream from your comma device to your laptop:

  • Enable wifi tethering on your comma device
  • SSH into your device and run cd /data/openpilot && ./cereal/messaging/bridge
  • On your laptop, connect to the device's wifi hotspot
  • Start PlotJuggler with ZMQ=1 ./juggle.py --stream, find the Cereal Subscriber plugin in the dropdown under Streaming, and click Start.

If streaming to PlotJuggler from a replay on your PC, simply run: ./juggle.py --stream and start the cereal subscriber.

Demo

For a quick demo, go through the installation step and run this command:

./juggle.py --demo --qlog --layout=layouts/demo.xml

Layouts

If you create a layout that's useful for others, consider upstreaming it.

Tuning

Use this layout to improve your car's tuning and generate plots for tuning PRs. Also see the tuning wiki and tuning PR template.

--layout layouts/tuning.xml

screenshot